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//---will set the pen down and // use cyan for drawing //---will set the pen up
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The line width is whatever was set by the last LineWidth command issued. The line color will be what is speci ed by ExprN2, or the rst color in the invisible colors list. The color drawn by the pen will be considered an obstacle unless it is in the list of invisible colors.
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rCharge ExprN Sets the batteries to percentage charge. ExprN is a percentage value 1 to 100 percent rIgnoreCharge ExprN If ExprN is true (not zero) then the battery charge level will be ignored and the robot will continue to operate regardless of the battery charge level. This is the default state. If ExprN is false (zero) then the battery charge level will be taken into account. The robot will not operate when the battery is depleted and in some cases an error will occur as speci ed in the commands. rSensor ExprN1,ExprN2,Var1,Var2,Var3 The robot has a default set of sensors located at 90 and 45 to the left and right of the front and at the front. These sensors can look and return the color of the rst object encountered and the distance to that object. ExprN1 speci es the sensor number to use: 1 = 90 to the right 2 = 45 to the right
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3 = Front 4 = 45 to the left 5 = 90 to the left
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ExprN2 speci es the limit of the sensor range (pixels). Var1 is set to the rst color found directly in front of the sensor that is not on the list of invisible colors. If the range of the sensor or the walls of the room are reached (screen extent) without sensing an object then this color value will be 1, otherwise it will be the color of the object. Var2 is set to the distance to the object found. If no object is found then the distance will be the maximum range of the sensor, or the distance to the wall if that was within the sensor range.
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Var3 will be set to 1 (true) if an object is found or a wall is sensed within the sensor range. If the sensor range is reached without sensing a wall or an object then it is set to 0 (false). Colors on the invisible colors list will be ignored in the process.
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This command will not cause an error if the battery is depleted and an IgnoreCharge False has been issued, but the values will be nonsense. rSensorA ExprN1,ExprN2,Var1,Var2,Var3 This is the same as the rSensor command, except ExprN1 is not a sensor number but rather an angle (0 359) clockwise relative to the robot heading. A value of 90 is 90 to the right, 270 is 90 to the left. So this command can be used to do the same as above but instead of a limit of 5 sensors you have 360 of them. This command will not cause an error if the battery is depleted and an IgnoreCharge False has been issued, but the values will be nonsense. rSlip {ExprN} This command de nes a percentage for the slipping feature of the robot. Real robot motors tend to slip in a random way where going forward/backward can go less than expected. If the motors do not turn exactly the same amount while going forward a slight turning tendency may occur. Also, during turning if the motors do not turn as expected, less or more turning than commanded may occur. Issuing this command will cause the robot to behave in this manner. If you do not pass ExprN the slip will occur 2 percent of the time. If you want to simulate a different percentage then issue the command with ExprN. ExprN resulting in 0 will turn the slipping off which is the default state. If ExprN is less than 0 then it will be made 0. If ExprN is greater than 100 it will be made 100. If ExprN does not result in a number an error will occur. C.9.3 SIMULATOR FUNCTIONS In the following if empty parenthesis () is speci ed then the function does not require a parameter but the () must still be typed. All functions will not cause an error if the battery is depleted and an IgnoreCharge False has been issued, but the values returned will be nonsense. The functions are listed according to functionality rather than in an alphabetic order. See below for an alphabetical order. Functions that look or sense for colors will not detect the colors on the invisible colors list (see rInvisible above) unless otherwise stated.
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